Modelling of the union of a human and a walk aid device: Exoskeleton

The aim of this paper is to propose a mechanism for assisting human walking. Firstly, a cyclic walking is defined for a biped over a horizontal floor. Secondly, the modeling of the human + exosquelette union is presented. Such model of human-exoskeleton union involves a mechanical structure with kinematic constraints. Finally, we demonstrate that the proposed structure decreases the amount of human effort required during the cyclic walking.